System and method for displaying information in a vehicle

ABSTRACT

An automotive vehicle includes a sensor configured to detect features external to the vehicle, an HMI configured to signal an alert to an operator of the vehicle, and a controller. The controller is in communication with the sensor and the HMI, and is in communication with a non-transient computer-readable storage medium provided with a road furniture database. The road furniture database includes a plurality of items of road furniture having associated road furniture geolocations and road furniture classifications. The controller is configured to, in response to the vehicle being proximate a respective road furniture geolocation for a respective item of road furniture and the sensor not detecting the respective item of road furniture, control the HMI to signal an alert.

TECHNICAL FIELD

The present disclosure relates to vehicles having sensors configured tosense regions external to and proximate the vehicle, and particularly tovehicles having augmented reality camera systems.

INTRODUCTION

Automotive vehicles generally operate on roadways provided with avariety of road furniture. Road furniture refers to roadside objectsused for traffic control and driver assistance. Road furniture includes,but is not limited to, stop signs, stop lights, yield signs, directionalsigns, regulatory signs, and road paint. It is therefore highlydesirable to ensure that operators of automotive vehicles are aware ofthe road furniture proximate their vehicle at all times.

SUMMARY

An automotive vehicle according to the present disclosure includes asensor configured to detect features external to the vehicle, an HMIconfigured to signal an alert to an operator of the vehicle, and acontroller. The controller is in communication with the sensor and theHMI, and is in communication with a non-transient computer-readablestorage medium provided with a road furniture database. The roadfurniture database includes a plurality of items of road furniturehaving associated road furniture geolocations and road furnitureclassifications. The controller is configured to, in response to thevehicle being proximate a respective road furniture geolocation for arespective item of road furniture and the sensor not detecting therespective item of road furniture, control the HMI to signal an alert.

In an exemplary embodiment, the HMI includes an augmented realityinterface, and the controller is configured to control the augmentedreality interface to signal an alert by displaying an augmented realityoverlay including indicia associated with the respective item of roadfurniture. The indicia may include an image associated with a respectiveroad furniture classification of the respective item of road furniture.The image may be scaled based on a distance between a current vehiclelocation and the respective geolocation of the respective item of roadfurniture. The road furniture database may further include roadfurniture orientations associated with the plurality of items of roadfurniture, and the image may be skewed based on a respective roadfurniture orientation of the respective item of road furniture relativeto a current heading of the vehicle.

In an exemplary embodiment, the road furniture database is provided in ahigh definition map database.

In an exemplary embodiment, the sensor comprises an optical camera.

A method of controlling a vehicle according to the present disclosureincludes providing a host vehicle with a sensor configured to detectfeatures external to the vehicle, an HMI configured to signal an alertto an operator of the vehicle, and a controller in communication withthe sensor and the HMI. The method additionally includes detecting, viathe controller, a current geolocation of the host vehicle. The methodalso includes accessing, via the controller, a road furniture databasecomprising a plurality of items of road furniture having associated roadfurniture geolocations and road furniture classifications. The methodfurther includes identifying, via the controller, a respective item ofroad furniture having a respective road furniture geolocation proximatethe current geolocation of the host vehicle. The method further includesdetermining, via the controller, whether the sensor indicates thepresence of the respective item of road furniture at the respective roadfurniture geolocation. The method further includes, in response to thesensor not indicating the presence of the respective item of roadfurniture, automatically controlling the HMI, via the controller, tosignal an alert.

In an exemplary embodiment, the HMI comprises an augmented realityinterface. In such an embodiment, controlling the HMI to signal an alertcomprises controlling the augmented reality interface to display anaugmented reality overlay including indicia associated with therespective item of road furniture. Such embodiments may includeidentifying, via the controller, a respective road furnitureclassification associated with the respective item of road furniture,with the indicia including an image associated with the respective roadfurniture classification. Such images may be scaled based on a distancebetween a current vehicle location and the respective geolocation of therespective item of road furniture, and/or skewed based on a respectiveroad furniture orientation of the respective item of road furniturerelative to a current heading of the vehicle.

In an exemplary embodiment, the sensor comprises an optical camera.

A system for displaying images according to the present disclosureincludes an optical camera, an augmented reality display, and acontroller in communication with the optical camera and the augmentedreality display. The controller is configured to communicate with anon-transient computer-readable storage medium provided with a physicalobject database. The physical object database includes a plurality ofphysical objects having associated object geolocations and objectclassifications. The controller is configured to, in response to theoptical camera being in line-of-sight of a respective object geolocationfor a respective physical object and the optical camera not detectingthe respective physical object, control the augmented reality display todisplay a composite image comprising images captured by the opticalcamera and indicia associated with the respective object classificationof the respective physical object.

In an exemplary embodiment, the system additionally includes anautomotive vehicle having an occupant cabin, with the augmented realitydisplay defining an HMI disposed in the occupant cabin.

In an exemplary embodiment, the indicia comprise an image associatedwith the respective object classification. The image may be scaled basedon a distance between a current location of the augmented realitydisplay and the respective object geolocation and/or skewed based on arespective object orientation of the respective physical object.

Embodiments according to the present disclosure provide a number ofadvantages. For example, the present disclosure provides a system andmethod for notifying an operator of a vehicle when items of roadfurniture may be obstructed or otherwise not clearly visible, andmoreover does so in an intuitive fashion.

The above and other advantages and features of the present disclosurewill be apparent from the following detailed description of thepreferred embodiments when taken in connection with the accompanyingdrawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of a vehicle according to an embodiment ofthe present disclosure;

FIG. 2 is a block diagram representation of a control system for avehicle according to an embodiment of the present disclosure;

FIG. 3 is a flowchart representation of a method for controlling avehicle according to an embodiment of the present disclosure; and

FIG. 4 is an illustration of a method of providing a notificationaccording to an embodiment of the present disclosure.

DETAILED DESCRIPTION

Embodiments of the present disclosure are described herein. It is to beunderstood, however, that the disclosed embodiments are merely examplesand other embodiments can take various and alternative forms. Thefigures are not necessarily to scale; some features could be exaggeratedor minimized to show details of particular components. Therefore,specific structural and functional details disclosed herein are not tobe interpreted as limiting, but are merely representative. The variousfeatures illustrated and described with reference to any one of thefigures can be combined with features illustrated in one or more otherfigures to produce embodiments that are not explicitly illustrated ordescribed. The combinations of features illustrated providerepresentative embodiments for typical applications. Variouscombinations and modifications of the features consistent with theteachings of this disclosure, however, could be desired for particularapplications or implementations.

Referring now to FIG. 1, a system 10 for controlling a vehicle accordingto the present disclosure is shown in schematic form. The system 10includes an automotive vehicle 12. The automotive vehicle 12 includes apropulsion system 14, which may in various embodiments include aninternal combustion engine, an electric machine such as a tractionmotor, and/or a fuel cell propulsion system. The automotive vehicle 12additionally includes a steering system 16. While depicted as includinga steering wheel for illustrative purposes, in some embodiments withinthe scope of the present disclosure, the steering system 16 may omit thesteering wheel. The automotive vehicle 12 additionally includes aplurality of vehicle wheels 18 and associated wheel brakes 20 configuredto provide braking torque to the vehicle wheels 18. The wheel brakes 20may, in various embodiments, include friction brakes, a regenerativebraking system such as an electric machine, and/or other appropriatebraking systems.

The propulsion system 14, steering system 16, and wheel brakes 20 are incommunication with or under the control of at least one controller 22.While depicted as a single unit for illustrative purposes, thecontroller 22 may additionally include one or more other controllers,collectively referred to as a “controller.” The controller 22 mayinclude a microprocessor or central processing unit (CPU) incommunication with various types of computer readable storage devices ormedia. Computer readable storage devices or media may include volatileand nonvolatile storage in read-only memory (ROM), random-access memory(RAM), and keep-alive memory (KAM), for example. KAM is a persistent ornon-volatile memory that may be used to store various operatingvariables while the CPU is powered down. Computer-readable storagedevices or media may be implemented using any of a number of knownmemory devices such as PROMs (programmable read-only memory), EPROMs(electrically PROM), EEPROMs (electrically erasable PROM), flash memory,or any other electric, magnetic, optical, or combination memory devicescapable of storing data, some of which represent executableinstructions, used by the controller 22 in controlling the vehicle.

The controller 22 is in communication with a plurality of sensors 24. Inan exemplary embodiment the sensors 24 include one or sensors configuredto capture information about traffic lanes in the vicinity of thevehicle 12 such as RADAR, LiDAR, optical cameras, thermal cameras, andultrasonic sensors. In addition, the sensors 24 include one or moresensors configured to detect velocity, acceleration, and yaw rate of thevehicle 12. Such sensors may include one or more inertial measurementunits. Furthermore, the sensors 24 include one or more sensorsconfigured to detect a current geolocation of the vehicle, such as a GPSsystem. The sensors 24 may also include additional sensors or anycombination of the above as appropriate.

The controller 22 is in communication with non-transient data storage26. The non-transient data storage 26 is provided with data, e.g. in theform of one or more databases, including a road furniture databasehaving a list of known road furniture and associated intersectionpositions. Road furniture refers to roadside objects used for trafficcontrol and driver assistance. Road furniture includes, but is notlimited to, stop signs, stop lights, yield signs, directional signs,regulatory signs, and road paint. The road furniture database may begenerated using any known method for generating high-definition maps ofroadways and the appurtenances thereof. The data storage 26 may be localstorage physically located in the vehicle, remote storage physicallylocated external to the vehicle and accessed via a wirelesscommunication system such as cellular communications or other wirelessinterface, or a combination thereof.

The controller 22 is additionally in communication with a human-machineinterface (HMI) 28. According to various embodiments, the HMI 28 mayinclude a heads-up display (HUD), multi-function video display (MFD),audio notification system, haptic notification system, or any othersuitable means of communicating information to an occupant of thevehicle 12.

Referring now to FIG. 2, a system 30 for presenting information to anoccupant of the vehicle 12 is illustrated. The system 30 may beimplemented in one or more components of the vehicle 12, as will bediscussed in further detail below.

The system 30 includes a central processing module 32. The centralprocessing module 32 may be implemented, for example, via the controller22. The central processing module 32 may alternatively be referred to asa center stack module.

The central processing module 32 is in communication with a telematicsmodule 34. The telematics module 34 is configured to monitor operatingparameters of the vehicle 12 and communicate with systems external tothe vehicle 12, e.g. via vehicle-to-vehicle (V2V) orvehicle-to-infrastructure (V2I) communication such as a cellularcommunication system, 802.11 (“WiFi™”) communication system, DSRCcommunication system, or others. The telematics module 34 may beimplemented via the controller 22 in conjunction with one or morewireless communications systems.

The central processing module 32 is additionally in communication with alocalization module 36. The localization module 36 is configured toestimate a location and orientation of the vehicle 12 relative to thevehicle's surrounding environment. The localization module 36 isprovided with a high-definition (HD) map database 38. The HD mapdatabase 38 includes information pertaining to road and traffic controlfeatures at a plurality of geolocations. The HD map database 38 includesthe road furniture database. The HD map database 38 may be locallystored, e.g. in the data storage 26, stored remotely and accessed via awireless communication system such as the telematics module 34, or acombination thereof.

The central processing module 32 is additionally in communication with asensor module 40. The sensor module 40 may be implemented via thecontroller 22 to control one of the sensors 24, e.g. a front-facingcamera. The sensor module 40 includes a sensor localization algorithm42. The sensor localization algorithm 42 is configured to map featuresdetected by the sensor to features in the HD map database 38. The sensormodule 40 additionally includes a road furniture recognition algorithm44. The road furniture recognition algorithm 44 is configured to processsignals received by the sensor, e.g. images captured by a camera, toidentify one or more items of road furniture present in the vicinity ofthe vehicle 12.

The central processing module 32 is additionally in communication withan augmented reality (AR) camera module 46. The AR camera module 46 maybe implemented via the controller 22 to control one of the sensors 24,e.g. a dedicated AR camera. The AR camera module 46 is configured toprovide a real-time video feed for processing and display in an in-cabinAR system. While depicted as a separate module from the sensor module40, in alternative embodiments the sensor module 40 and AR camera module46 may be integrated into a single module.

The central processing module 32 is additionally in communication withan external object calculation module 48. The external objectcalculation module 48 may be implemented via the controller 22. Theexternal object calculation module 48 is configured to calculatepositions and velocities of objects external to the vehicle 12 relativeto the vehicle 12. The external object calculation module 48 includes amap fusion algorithm 50. The map fusion algorithm 50 is configured toreceive features mapped by the sensor localization algorithm 42, itemsof road furniture recognized by the road furniture recognition algorithm44, and a road furniture memory database 52 associated with the centralprocessing module 32. While depicted as a separate database from the HDmap database 38, in alternative embodiments the road furniture memorydatabase 52 may be provided as a component of the HD map database 38.The road furniture memory database 52 comprises a plurality of knownroad furniture data, including geolocation of known road furniture,classification of the known road furniture, e.g. type of road sign, andorientation of the road furniture relative to traffic lanes. The mapfusion algorithm 50 is configured to output a comparison of detected andidentified items of road furniture against expected items of roadfurniture at the current geolocation and orientation of the hostvehicle.

The central processing module 32 is provided with a missing/obstructedroad furniture detection algorithm 54. The missing/obstructed roadfurniture detection algorithm 54 is configured to, in response to themap fusion algorithm 50 indicating that an item of road furniture isexpected at the current location and orientation when no such roadfurniture is detected, signal a missing/obstructed road furniture flag.The missing/obstructed road furniture flag indicates that an expecteditem of road furniture is not detected. The missing/obstructed roadfurniture detection algorithm 54 may also include a classification,geolocation, and orientation of the expected item of road furniture.

The central processing module 32 additionally includes an AR displayalgorithm 56. The AR display algorithm 56 is in communication with themissing/obstructed road furniture detection algorithm 54, a roadfurniture image database 58, and with one or more augmented realitydisplays 60. In response to the missing/obstructed road furnituredetection algorithm 54 signaling a missing/obstructed road furnitureflag, the AR display algorithm 56 generates an appropriate image overlayfor display on the augmented reality display 60. The AR displayalgorithm may, for example, select an image from the road furnitureimage database 58 based on a classification of the missing/obstructedroad furniture, scale the image based on a relative location between thehost vehicle and the geolocation of the missing/obstructed roadfurniture, skew the image based on the orientation of the expected itemof road furniture relative to the host vehicle, and overlay theresulting image on images captured by the AR camera 46 for display onthe augmented reality display 60.

Variations of the above are, of course, possible. As an example, otherembodiments may utilize other HMIs, such as audio cues, haptic cues, orby projecting AR images via a HUD. As an additional example, otherembodiments may omit one or more of the modules illustrated in FIG. 2,such as the external object classification module and/or thelocalization module.

Referring now to FIG. 3, a method of controlling a vehicle according tothe present disclosure is illustrated in flowchart form. The methodbegins at block 100.

A host vehicle is provided with at least one sensor, an HMI, and atleast one controller, as illustrated at block 102. In an exemplaryembodiment, the host vehicle is configured generally as illustrated inFIG. 1.

Sensor readings are obtained, via the sensors(s), for an area proximatethe host vehicle, as illustrated at block 104. In an exemplaryembodiment, the sensing comprises capturing one or more images via anoptical camera. However, in other embodiments, other sensor types may beused.

Features in the sensor data are identified, as illustrated at block 106.This may be performed via any known image processing means foridentifying and classifying physical features based on sensor data.

A road furniture database is accessed, as illustrated at block 108. Theroad furniture database comprises road furniture geolocations andclassifications, as discussed above. In an exemplary embodiment, theroad furniture database is a portion of an HD map of a geographic area.

A determination is made of whether one or more items of road furnitureare anticipated proximate the host vehicle, as illustrated at operation110. In an exemplary embodiment, this comprises comparing a currentgeolocation of the host vehicle to data in the road furniture database.The current geolocation of the host vehicle may be determinedautomatically by a controller in communication with a sensor configuredto detect a geolocation of the vehicle, e.g. a GPS system. An item ofroad furniture may be considered proximate if it is within sensor rangeof the host vehicle, e.g. in line-of-sight.

If the determination of operation 110 is negative, i.e. no roadfurniture is anticipated proximate the host vehicle, then controlreturns to block 104. The algorithm thereby does not proceed unless anduntil road furniture is anticipated proximate the host vehicle.

If the determination of operation 110 is positive, then a determinationis made of whether items of road furniture are detected which correspondto the anticipated road furniture, as illustrated at operation 112. Inan exemplary embodiment, this comprises determining whether the featuresidentified in block 106 indicate an item of road furniture of the typeand in the location anticipated based on the road furniture database.

If the determination of operation 112 is positive, i.e. thecorresponding road furniture is detected, then control returns to block104. The algorithm thereby does not proceed unless and until roadfurniture is anticipated proximate the host vehicle.

If the determination of operation 112 is negative, then a notificationis signaled to a vehicle operator via the HMI, as illustrated at block114. In an exemplary embodiment, this comprises overlaying an image ofthe expected road furniture over the present environment via an ARdisplay, e.g. as discussed above with respect to FIG. 2 and below withrespect to FIG. 4. However, in other embodiments, other notificationsmay be provided. As non-limiting examples, the notification may comprisean auditory notification such as a verbal notification, a hapticnotification, a notification via a HUD, other suitable notification, orany combination thereof.

Referring now to FIG. 4, operation of a system according to the presentdisclosure is illustrated. An HD map 120 is accessed to determinefeatures proximate a current host vehicle geolocation 122. In theillustrated configuration, the HD map 120 indicates the presence of anitem of road furniture 124 proximate the current vehicle location 122.For illustrative purposes the item of road furniture 124 is shown as astop sign; however, the item of road furniture may be other items asdiscussed above.

Sensor data 126 of an area proximate the host vehicle is captured. Forillustrative purposes the sensor data 126 is depicted as an imagecaptured by an optical camera; however, other sensor types may be usedas discussed above. In the illustrated configuration, the item of roadfurniture 124 (shown in phantom) is not visible. Here it is depicted ashaving been obstructed by foliage; however, the system may similarlyfunction when items of road furniture are otherwise not visible, e.g.due to weather conditions, lighting conditions, or damage to the roadfurniture.

In response to the expected road furniture not being detected, e.g. asdiscussed above with respect to FIG. 3, the system generates anotification 128 via an HMI. In the illustrated embodiment the HMIincludes an AR overlay of a piece of road furniture 124′. In such anembodiment, an appropriate image for the piece of road furniture 124 isselected, e.g. from a road furniture image database as discussed abovewith respect to FIG. 2, and the image is scaled and skewed based on adistance and orientation of the host vehicle relative to the expectedposition of the item of road furniture 124. The scaled and skewed imageis then inserted in an appropriate location in the sensor data 126 asthe AR overlay of the piece of road furniture 124′. In other embodimentsutilizing other types of HMIs, the notification 128 may take other formsas discussed above.

While the above has been described in conjunction with an automotivevehicle, it should be understood that aspects of the present inventionmay be embodied in non-automotive contexts as well. In suchnon-automotive embodiments, a database comprising a plurality ofphysical objects, geolocations of the physical objects, andclassifications of the physical objects may be provided. A controllerand HMI may access the database and present notifications in response toa physical object proximate the user being anticipated but not detected,in a generally similar fashion as discussed above.

As may be seen the present disclosure provides a system and method fornotifying an operator of a vehicle when items of road furniture may beobstructed or otherwise not clearly visible, and moreover does so in anintuitive fashion.

While exemplary embodiments are described above, it is not intended thatthese embodiments describe all possible forms encompassed by the claims.The words used in the specification are words of description rather thanlimitation, and it is understood that various changes can be madewithout departing from the spirit and scope of the disclosure. Aspreviously described, the features of various embodiments can becombined to form further exemplary aspects of the present disclosurethat may not be explicitly described or illustrated. While variousembodiments could have been described as providing advantages or beingpreferred over other embodiments or prior art implementations withrespect to one or more desired characteristics, those of ordinary skillin the art recognize that one or more features or characteristics can becompromised to achieve desired overall system attributes, which dependon the specific application and implementation. These attributes caninclude, but are not limited to cost, strength, durability, life cyclecost, marketability, appearance, packaging, size, serviceability,weight, manufacturability, ease of assembly, etc. As such, embodimentsdescribed as less desirable than other embodiments or prior artimplementations with respect to one or more characteristics are notoutside the scope of the disclosure and can be desirable for particularapplications.

1. An automotive vehicle comprising: a sensor configured to detectfeatures external to the vehicle; a human-machine interface (“HMI”)configured to signal an alert to an operator of the vehicle; and acontroller in communication with the sensor and the HMI, the controllerbeing in communication with a non-transient computer-readable storagemedium provided with a road furniture database, the road furnituredatabase comprising a plurality of items of road furniture havingassociated road furniture geolocations and road furnitureclassifications, the controller being configured to, in response to thevehicle being proximate a respective road furniture geolocation for arespective item of road furniture and the sensor not detecting therespective item of road furniture, control the HMI to signal an alert.2. The automotive vehicle of claim 1, wherein the HMI comprises anaugmented reality interface, and wherein the controller is configured tocontrol the augmented reality interface to signal an alert by displayingan augmented reality overlay including indicia associated with therespective item of road furniture.
 3. The automotive vehicle of claim 2,wherein the indicia comprise an image associated with a respective roadfurniture classification of the respective item of road furniture. 4.The automotive vehicle of claim 3, wherein the image is scaled based ona distance between a current vehicle location and the respectivegeolocation of the respective item of road furniture.
 5. The automotivevehicle of claim 3, wherein the road furniture database further includesroad furniture orientations associated with the plurality of items ofroad furniture, and wherein the image is skewed based on a respectiveroad furniture orientation of the respective item of road furniturerelative to a current heading of the vehicle.
 6. The automotive vehicleof claim 1, wherein the road furniture database is provided in a highdefinition map database.
 7. The automotive vehicle of claim 1, whereinthe sensor comprises an optical camera.
 8. A method of controlling avehicle, comprising: providing a host vehicle with a sensor configuredto detect features external to the vehicle, a human-machine interface(“HMI”) configured to signal an alert to an operator of the vehicle, anda controller in communication with the sensor and the HMI; detecting,via the controller, a current geolocation of the host vehicle;accessing, via the controller, a road furniture database comprising aplurality of items of road furniture having associated road furnituregeolocations and road furniture classifications; identifying, via thecontroller, a respective item of road furniture having a respective roadfurniture geolocation proximate the current geolocation of the hostvehicle; determining, via the controller, whether the sensor indicatesthe presence of the respective item of road furniture at the respectiveroad furniture geolocation; and in response to the sensor not indicatingthe presence of the respective item of road furniture, automaticallycontrolling the HMI, via the controller, to signal an alert.
 9. Themethod of claim 8, wherein the HMI comprises an augmented realityinterface, and controlling the HMI to signal an alert comprisescontrolling the augmented reality interface to display an augmentedreality overlay including indicia associated with the respective item ofroad furniture.
 10. The method of claim 9, further comprisingidentifying, via the controller, a respective road furnitureclassification associated with the respective item of road furniture,wherein the indicia comprise an image associated with the respectiveroad furniture classification.
 11. The method of claim 10, wherein theimage is scaled based on a distance between a current vehicle locationand the respective geolocation of the respective item of road furniture.12. The method of claim 10, wherein the road furniture database furtherincludes road furniture orientations associated with the plurality ofitems of road furniture, and wherein the image is skewed based on arespective road furniture orientation of the respective item of roadfurniture relative to a current heading of the vehicle.
 13. The methodof claim 8, wherein the sensor comprises an optical camera.
 14. A systemfor displaying images, comprising: an optical camera; an augmentedreality display; and a controller in communication with the opticalcamera and the augmented reality display, the controller beingconfigured to communicate with a non-transient computer-readable storagemedium provided with a physical object database, the physical objectdatabase comprising a plurality of physical objects having associatedobject geolocations and object classifications, the controller beingconfigured to, in response to the optical camera being in line-of-sightof a respective object geolocation for a respective physical object andthe optical camera not detecting the respective physical object, controlthe augmented reality display to display a composite image comprisingimages captured by the optical camera and indicia associated with therespective object classification of the respective physical object, thecontroller being further configured to, in response to the opticalcamera being in line-of-sight of the respective geolocation for arespective physical object and the optical camera detecting therespective physical object, control the augmented reality display to notdisplay the composite image.
 15. The system of claim 14, furthercomprising an automotive vehicle having an occupant cabin, wherein theaugmented reality display defines a human-machine interface (“HMI”)disposed in the occupant cabin.
 16. The system of claim 14, wherein theindicia comprise an image associated with the respective objectclassification.
 17. The system of claim 16, wherein the image is scaledbased on a distance between a current location of the augmented realitydisplay and the respective object geolocation.
 18. The system of claim16, wherein the object database further includes object orientationsassociated with the plurality of physical objects, and wherein the imageis skewed based on a respective object orientation of the respectivephysical object.
 19. The automotive vehicle of claim 1, wherein thecontroller is further configured to, in response to the vehicle beingproximate the respective road furniture geolocation for the respectiveitem of road furniture and the sensor detecting the respective item ofroad furniture, control the HMI to not signal the alert.
 20. The methodof claim 8, further comprising, in response to the sensor indicating thepresence of the respective item of road furniture, automaticallycontrolling the HMI, via the controller, to not signal the alert.